Related papers: Design of Current Controller for Two Quadrant DC M…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
State space systems and experimental system identification are essential components of control education. Early introduction of these tools to the curriculum of a control laboratory in an interconnected and accessible manner that does not…
A unified model of voltage mode control (VMC) and current mode control (CMC) is proposed to predict the saddle-node bifurcation (SNB). Exact SNB boundary conditions are derived, and can be further simplified in various forms for design…
This paper proposes an asychronous distributed leader-follower control method to achieve conservation voltage reduction (CVR) in three-phase unbalanced distribution systems by optimally scheduling smart inverters of distributed energy…
We present an estimator-based control design procedure for flow control, using reduced-order models of the governing equations, linearized about a possibly unstable steady state. The reduced models are obtained using an approximate balanced…
This paper addresses the problem of output voltage regulation for multiple DC/DC converters connected to a microgrid, and prescribes a scheme for sharing power among different sources. This architecture is structured in such a way that it…
Structured reduced-order modeling is a central component in the computer-aided design of control systems in which cheap-to-evaluate low-dimensional models with physically meaningful internal structures are computed. In this work, we develop…
The control of nonlinear large-scale dynamical models such as the incompressible Navier-Stokes equations is a challenging task. The computational challenges in the controller design come from both the possibly large state space and the…
Common approaches for direct model predictive control (MPC) for current reference tracking in power electronics suffer from the high computational complexity encountered when solving integer optimal control problems over long prediction…
Model Predictive Control (MPC) is a versatile approach capable of accommodating diverse control requirements that holds significant promise for a broad spectrum of industrial applications. Noteworthy challenges associated with MPC include…
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is used to generate a neural exponentially…
In this paper, a new fault tolerant dc-ac converter-fed induction motor drive is proposed to maintain motor as close as possible to its desired normal operation under open- and short-circuit switch failures. The operational principles for…
Direct current (DC) network has been recognized as a promising technique, especially for shipboard power systems (SPSs). Fast resilience control is required for an SPS to survive after faults. Towards this end, this paper proposes the…
In this paper, we model the planar motion of a quadcopter, and develop a linear model of the same. We perform stability analysis of the open loop system and develop a PD controller for its position control. We compare the closed loop…
In this paper we propose distributed dynamic controllers for sharing both frequency containment and restoration reserves of asynchronous AC systems connected through a multi-terminal HVDC (MTDC) grid. The communication structure of the…
In this paper we propose a distributed dynamic controller for sharing frequency control reserves of asynchronous AC systems connected through a multi-terminal HVDC (MTDC) grid. We derive sufficient stability conditions, which guarantee that…
Control Co-Design (CCD) integrates physical and control system design to improve the performance of dynamic and autonomous systems. Despite advances in uncertainty-aware CCD methods, real-world uncertainties remain highly unpredictable.…
The internal model principle states that all robustly regulating controllers must contain a suitably reduplicated internal model of the signal to be regulated. Using frequency domain methods, we show that the number of the copies may be…
This paper proposes a novel fuzzy cascaded Proportional-Derivative (PD) controller for under-actuated single-link flexible joint manipulators. The original flexible joint system is considered as two coupled $2^{nd}$-order sub-systems. The…